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<div class="title">base_vertex.h</div>  </div>
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<a href="base__vertex_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_BASE_VERTEX_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_BASE_VERTEX_H</span></div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a40fcd78e21bb4aedf7e299922c650937">   29</a></span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimizable__graph_8h.html">optimizable_graph.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="creators_8h.html">creators.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;../stuff/macros.h&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Dense&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Cholesky&gt;</span></div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a0bbd9551b7e03f7e422169e396e8ec9b">   37</a></span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;stack&gt;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> D, <span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a54227ac315e6bc75c63ed117a2c75668">   53</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_base_vertex.html">BaseVertex</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a> {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">   55</a></span>&#160;    <span class="keyword">typedef</span> T <a class="code" href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">EstimateType</a>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">typedef</span> std::stack&lt;EstimateType, </div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                       std::vector&lt;EstimateType,  Eigen::aligned_allocator&lt;EstimateType&gt; &gt; &gt;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">   58</a></span>&#160;    <a class="code" href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">BackupStackType</a>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a9a831bfdf84cfe625d8f942bc4f1c2d1">   60</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> Dimension = D;           </div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">   62</a></span>&#160;    <span class="keyword">typedef</span> Eigen::Map&lt;Matrix&lt;double, D, D&gt;, Matrix&lt;double,D,D&gt;::Flags &amp; AlignedBit ? Aligned : Unaligned &gt;  <a class="code" href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">HessianBlockType</a>;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="classg2o_1_1_base_vertex.html">BaseVertex</a>();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">   67</a></span>&#160;    <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">hessian</a>(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)<span class="keyword"> const </span>{ assert(i&lt;D &amp;&amp; j&lt;D); <span class="keywordflow">return</span> _hessian(i,j);}</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">   68</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">hessian</a>(<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)  { assert(i&lt;D &amp;&amp; j&lt;D); <span class="keywordflow">return</span> _hessian(i,j);}</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">   69</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">hessianDeterminant</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _hessian.determinant();}</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">   70</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">hessianData</a>() { <span class="keywordflow">return</span> <span class="keyword">const_cast&lt;</span><span class="keywordtype">double</span>*<span class="keyword">&gt;</span>(_hessian.data());}</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> mapHessianMemory(<span class="keywordtype">double</span>* d);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">   74</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">copyB</a>(<span class="keywordtype">double</span>* b_)<span class="keyword"> const </span>{</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      memcpy(b_, _b.data(), Dimension * <span class="keyword">sizeof</span>(double));</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordflow">return</span> Dimension; </div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">   79</a></span>&#160;    <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">b</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{ assert(i &lt; D); <span class="keywordflow">return</span> _b(i);}</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">   80</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span>&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">b</a>(<span class="keywordtype">int</span> i) { assert(i &lt; D); <span class="keywordflow">return</span> _b(i);}</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">   81</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span>* <a class="code" href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">bData</a>() { <span class="keywordflow">return</span> _b.data();}</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> clearQuadraticForm();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span> solveDirect(<span class="keywordtype">double</span> lambda=0);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#af7a70ede844ad023ba32edde16c8c745">   90</a></span>&#160;    Matrix&lt;double, D, 1&gt;&amp; <a class="code" href="classg2o_1_1_base_vertex.html#af7a70ede844ad023ba32edde16c8c745">b</a>() { <span class="keywordflow">return</span> _b;}</div><div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a6b0bf63c79b2b36186680b2a73ec70bf">   91</a></span>&#160;    <span class="keyword">const</span> Matrix&lt;double, D, 1&gt;&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a6b0bf63c79b2b36186680b2a73ec70bf">b</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _b;}</div><div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a43bcf2bb3420a0b2cb80bfd297b464a6">   93</a></span>&#160;    HessianBlockType&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a43bcf2bb3420a0b2cb80bfd297b464a6">A</a>() { <span class="keywordflow">return</span> _hessian;}</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a3efca26127cda4f9b77a06352f1267bb">   94</a></span>&#160;    <span class="keyword">const</span> HessianBlockType&amp; <a class="code" href="classg2o_1_1_base_vertex.html#a3efca26127cda4f9b77a06352f1267bb">A</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _hessian;}</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">   96</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">push</a>() { _backup.push(_estimate);}</div><div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">   97</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">pop</a>() { assert(!_backup.empty()); _estimate = _backup.top(); _backup.pop(); updateCache();}</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">   98</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">discardTop</a>() { assert(!_backup.empty()); _backup.pop();}</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">   99</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">stackSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _backup.size();}</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">  102</a></span>&#160;    <span class="keyword">const</span> EstimateType&amp; <a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> _estimate;}</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">  104</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">setEstimate</a>(<span class="keyword">const</span> EstimateType&amp; et) { _estimate = et; updateCache();}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#afaf73b0e874db76655d90bdb2f156c00">  107</a></span>&#160;    HessianBlockType <a class="code" href="classg2o_1_1_base_vertex.html#afaf73b0e874db76655d90bdb2f156c00">_hessian</a>;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a70c672f2997275927efa49c1f5b18ac3">  108</a></span>&#160;    Matrix&lt;double, D, 1&gt; <a class="code" href="classg2o_1_1_base_vertex.html#a70c672f2997275927efa49c1f5b18ac3">_b</a>;</div><div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">  109</a></span>&#160;    EstimateType <a class="code" href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">_estimate</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classg2o_1_1_base_vertex.html#a936082916993857a77c8318bc3e59d23">  110</a></span>&#160;    <a class="code" href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">BackupStackType</a> <a class="code" href="classg2o_1_1_base_vertex.html#a936082916993857a77c8318bc3e59d23">_backup</a>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;};</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="base__vertex_8hpp.html">base_vertex.hpp</a>&quot;</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_vertex_html_a502bf3db2ee32061a2c8257ef81a1552"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a502bf3db2ee32061a2c8257ef81a1552">g2o::BaseVertex::pop</a></div><div class="ttdeci">virtual void pop()</div><div class="ttdoc">restore the position of the vertex by retrieving the position from the stack </div><div class="ttdef"><b>Definition:</b> base_vertex.h:97</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_acb6e8e8f39caa04f62dd93a3dd400e06"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">g2o::BaseVertex::setEstimate</a></div><div class="ttdeci">void setEstimate(const EstimateType &amp;et)</div><div class="ttdoc">set the estimate for the vertex also calls updateCache() </div><div class="ttdef"><b>Definition:</b> base_vertex.h:104</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a3efca26127cda4f9b77a06352f1267bb"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a3efca26127cda4f9b77a06352f1267bb">g2o::BaseVertex::A</a></div><div class="ttdeci">const HessianBlockType &amp; A() const</div><div class="ttdef"><b>Definition:</b> base_vertex.h:94</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_aedf92fbb5c2c86185422a955be02a3a6"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#aedf92fbb5c2c86185422a955be02a3a6">g2o::BaseVertex::hessianData</a></div><div class="ttdeci">virtual double * hessianData()</div><div class="ttdef"><b>Definition:</b> base_vertex.h:70</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ae6632291d46b458196bdb021a6c8cba1"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ae6632291d46b458196bdb021a6c8cba1">g2o::BaseVertex::BackupStackType</a></div><div class="ttdeci">std::stack&lt; EstimateType, std::vector&lt; EstimateType, Eigen::aligned_allocator&lt; EstimateType &gt; &gt; &gt; BackupStackType</div><div class="ttdef"><b>Definition:</b> base_vertex.h:58</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ac35e0c8c62a59e947ac7710ed85fcd7a"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ac35e0c8c62a59e947ac7710ed85fcd7a">g2o::BaseVertex::hessian</a></div><div class="ttdeci">virtual const double &amp; hessian(int i, int j) const</div><div class="ttdoc">get the element from the hessian matrix </div><div class="ttdef"><b>Definition:</b> base_vertex.h:67</div></div>
<div class="ttc" id="base__vertex_8hpp_html"><div class="ttname"><a href="base__vertex_8hpp.html">base_vertex.hpp</a></div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_af7a70ede844ad023ba32edde16c8c745"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#af7a70ede844ad023ba32edde16c8c745">g2o::BaseVertex::b</a></div><div class="ttdeci">Matrix&lt; double, D, 1 &gt; &amp; b()</div><div class="ttdoc">return right hand side b of the constructed linear system </div><div class="ttdef"><b>Definition:</b> base_vertex.h:90</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a936082916993857a77c8318bc3e59d23"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a936082916993857a77c8318bc3e59d23">g2o::BaseVertex::_backup</a></div><div class="ttdeci">BackupStackType _backup</div><div class="ttdef"><b>Definition:</b> base_vertex.h:110</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_aaffb179a0d591da4769ec7c3fc7f7daa"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#aaffb179a0d591da4769ec7c3fc7f7daa">g2o::BaseVertex::EstimateType</a></div><div class="ttdeci">T EstimateType</div><div class="ttdef"><b>Definition:</b> base_vertex.h:55</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a1217e0fe47e7259f039d468397cddb15"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a1217e0fe47e7259f039d468397cddb15">g2o::BaseVertex::hessianDeterminant</a></div><div class="ttdeci">virtual double hessianDeterminant() const</div><div class="ttdef"><b>Definition:</b> base_vertex.h:69</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a43bcf2bb3420a0b2cb80bfd297b464a6"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a43bcf2bb3420a0b2cb80bfd297b464a6">g2o::BaseVertex::A</a></div><div class="ttdeci">HessianBlockType &amp; A()</div><div class="ttdoc">return the hessian block associated with the vertex </div><div class="ttdef"><b>Definition:</b> base_vertex.h:93</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a837ef1047343d927edb48ad8d510fe90"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a837ef1047343d927edb48ad8d510fe90">g2o::BaseVertex::b</a></div><div class="ttdeci">virtual const double &amp; b(int i) const</div><div class="ttdoc">get the b vector element </div><div class="ttdef"><b>Definition:</b> base_vertex.h:79</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a7d82f4b9669dd123ac7d38c7f4345d8c"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a7d82f4b9669dd123ac7d38c7f4345d8c">g2o::BaseVertex::stackSize</a></div><div class="ttdeci">virtual int stackSize() const</div><div class="ttdoc">return the stack size </div><div class="ttdef"><b>Definition:</b> base_vertex.h:99</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a6ab2212fdb00dec460299fdbabe09cb9"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a6ab2212fdb00dec460299fdbabe09cb9">g2o::BaseVertex::hessian</a></div><div class="ttdeci">virtual double &amp; hessian(int i, int j)</div><div class="ttdef"><b>Definition:</b> base_vertex.h:68</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a3629d3b15da425476e15867fb03b781b"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a3629d3b15da425476e15867fb03b781b">g2o::BaseVertex::copyB</a></div><div class="ttdeci">virtual int copyB(double *b_) const</div><div class="ttdoc">copies the b vector in the array b_ </div><div class="ttdef"><b>Definition:</b> base_vertex.h:74</div></div>
<div class="ttc" id="optimizable__graph_8h_html"><div class="ttname"><a href="optimizable__graph_8h.html">optimizable_graph.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a71729c4d91044bde9bfea4c859b0c02d"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a71729c4d91044bde9bfea4c859b0c02d">g2o::BaseVertex::discardTop</a></div><div class="ttdeci">virtual void discardTop()</div><div class="ttdoc">pop the last element from the stack, without restoring the current estimate </div><div class="ttdef"><b>Definition:</b> base_vertex.h:98</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a6b0bf63c79b2b36186680b2a73ec70bf"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a6b0bf63c79b2b36186680b2a73ec70bf">g2o::BaseVertex::b</a></div><div class="ttdeci">const Matrix&lt; double, D, 1 &gt; &amp; b() const</div><div class="ttdef"><b>Definition:</b> base_vertex.h:91</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html"><div class="ttname"><a href="classg2o_1_1_base_vertex.html">g2o::BaseVertex</a></div><div class="ttdoc">Templatized BaseVertex. </div><div class="ttdef"><b>Definition:</b> base_vertex.h:53</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a887928bc60710e0ec9acb269ee7411db"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a887928bc60710e0ec9acb269ee7411db">g2o::BaseVertex::HessianBlockType</a></div><div class="ttdeci">Eigen::Map&lt; Matrix&lt; double, D, D &gt;, Matrix&lt; double, D, D &gt;::Flags &amp;AlignedBit ? Aligned :Unaligned &gt; HessianBlockType</div><div class="ttdef"><b>Definition:</b> base_vertex.h:62</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_afea20bbcf50eb2a7d9d598b3eae49172"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">g2o::BaseVertex::estimate</a></div><div class="ttdeci">const EstimateType &amp; estimate() const</div><div class="ttdoc">return the current estimate of the vertex </div><div class="ttdef"><b>Definition:</b> base_vertex.h:102</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a70c672f2997275927efa49c1f5b18ac3"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a70c672f2997275927efa49c1f5b18ac3">g2o::BaseVertex::_b</a></div><div class="ttdeci">Matrix&lt; double, D, 1 &gt; _b</div><div class="ttdef"><b>Definition:</b> base_vertex.h:108</div></div>
<div class="ttc" id="creators_8h_html"><div class="ttname"><a href="creators_8h.html">creators.h</a></div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ae6edf93fe07aa27579a9352faa83098c"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ae6edf93fe07aa27579a9352faa83098c">g2o::BaseVertex::push</a></div><div class="ttdeci">virtual void push()</div><div class="ttdoc">backup the position of the vertex to a stack </div><div class="ttdef"><b>Definition:</b> base_vertex.h:96</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_afaf73b0e874db76655d90bdb2f156c00"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#afaf73b0e874db76655d90bdb2f156c00">g2o::BaseVertex::_hessian</a></div><div class="ttdeci">HessianBlockType _hessian</div><div class="ttdef"><b>Definition:</b> base_vertex.h:107</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ac8edea7073e5850c90b0ba37092b8f84"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ac8edea7073e5850c90b0ba37092b8f84">g2o::BaseVertex::bData</a></div><div class="ttdeci">virtual double * bData()</div><div class="ttdoc">return a pointer to the b vector associated with this vertex </div><div class="ttdef"><b>Definition:</b> base_vertex.h:81</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ab188c92c3e906c6e06507ae624c0e7ac"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">g2o::BaseVertex::_estimate</a></div><div class="ttdeci">EstimateType _estimate</div><div class="ttdef"><b>Definition:</b> base_vertex.h:109</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_a5c235369ef3fb58de65b90c8cc37d611"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#a5c235369ef3fb58de65b90c8cc37d611">g2o::BaseVertex::b</a></div><div class="ttdeci">virtual double &amp; b(int i)</div><div class="ttdef"><b>Definition:</b> base_vertex.h:80</div></div>
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